version: 66.13
glider: 401
mission: 22
dive: 1101
start: 8 15 117 14 51 50
data:
$ID,401
$MISSION,22
$DIVE,1101
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,19
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,150817,140941,6149.0249,-17357.7695,7,1.0,19,7.0,0.0,296.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.8
$GPS2,150817,140941,6149.0249,-17357.7695,7,1.0,19,7.0,0.0,296.0,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,290.9,25207,-11.5,-10.526,-14.94,6946
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-1.78,-487.2,2336,1951,2490,4092,0.0,0.0,0,18,5.65,0.00,-1.02,0.000,20482,0.021,0.000,1783,1951,2598,2598,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.32,52.52
$GC,22,-1.78,-487.2,1782,1951,2599,4094,0.1,0.0,1,35,0.00,1.20,-4.40,0.000,16644,0.000,1.270,1782,2374,3055,3055,4095,0,0,0,0,0,0,26.33,24.72,26.34,10.34,53.18
$GC,56,-1.78,-487.5,1781,2374,3056,4095,2.4,-8.9,6,63,0.00,1.05,0.00,0.000,1030,0.000,0.033,1782,1961,3056,3056,4094,0,0,0,0,0,0,25.99,25.95,26.01,10.44,53.11
$GC,95,-1.78,-487.5,1781,1961,3058,4094,8.7,-17.2,12,101,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1961,3058,3058,4095,0,0,0,0,0,0,26.25,26.26,26.27,10.44,52.67
$GC,134,-1.78,-487.5,1781,1961,3059,4095,15.8,-18.4,18,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1961,3059,3059,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.45,53.18
$GC,173,-1.78,-487.5,1781,1961,3060,4094,22.7,-17.9,24,179,0.00,1.12,0.00,0.000,516,0.000,0.053,1782,1518,3060,3060,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.44,52.20
$GC,242,-1.78,-487.5,1781,1517,3062,4095,31.6,-12.6,35,248,0.00,1.00,0.00,0.000,1030,0.000,0.027,1782,1946,3062,3062,4095,0,0,0,0,0,0,26.17,26.14,26.19,10.37,51.02
$GC,281,-1.78,-487.5,1781,1945,3062,4095,36.5,-12.3,41,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1945,3062,3062,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.36,50.55
$GC,320,-1.78,-487.5,1781,1945,3064,4095,41.3,-12.3,47,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1945,3064,3064,4095,0,0,0,0,0,0,26.42,26.43,26.44,10.35,50.31
$GC,359,-1.78,-487.5,1781,1945,3064,4095,46.2,-12.9,53,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1945,3065,3065,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.34,49.37
$GC,397,-1.78,-487.5,1781,1946,3066,4094,51.0,-12.4,59,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1946,3066,3066,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.33,48.89
$GC,436,-1.78,-487.5,1781,1946,3066,4095,55.9,-12.8,65,442,0.00,1.10,0.00,0.000,260,0.000,0.046,1782,2366,3066,3066,4095,0,0,0,0,0,0,26.48,26.17,26.50,10.33,48.26
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,474,-0.45,0.0,1782,2111,3067,4095,60.3,-13.1,70,510,4.35,0.00,28.30,1.309,10244,0.054,0.000,2185,2110,2484,2484,4094,0,0,0,0,0,0,26.20,25.30,24.25,10.32,47.63
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,515,1.78,487.5,2184,2109,2484,4094,63.0,0.0,76,557,7.53,1.23,28.02,1.283,10500,0.032,0.052,2891,2556,1915,1915,4094,0,0,0,0,0,0,25.50,25.48,23.83,10.20,47.55
$GC,622,1.78,487.5,2890,2556,1914,4094,52.9,13.3,93,629,0.00,1.00,0.00,0.000,1030,0.000,0.026,2891,2156,1913,1913,4094,0,0,0,0,0,0,25.50,25.47,25.51,10.06,46.10
$GC,662,1.78,487.5,2891,2155,1912,4094,47.3,13.8,99,668,0.00,1.15,0.00,0.000,516,0.000,0.046,2891,1717,1911,1911,4094,0,0,0,0,0,0,25.81,25.52,25.82,10.06,46.22
$GC,767,1.78,487.5,2890,1717,1909,4094,33.8,12.2,116,773,0.00,0.90,0.00,0.000,1030,0.000,0.029,2891,2088,1908,1908,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.04,47.08
$GC,806,1.78,487.5,2891,2088,1908,4094,29.0,12.1,122,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2088,1908,1908,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.04,48.07
$GC,845,1.78,487.5,2890,2088,1907,4094,24.4,11.7,128,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2088,1907,1907,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.04,47.44
$GC,884,2.14,727.5,2891,2088,1906,4094,21.1,7.0,134,903,1.15,0.00,13.68,0.808,10246,0.028,0.000,3004,2088,1635,1635,4094,0,0,0,0,0,0,25.95,25.52,24.73,10.08,48.46
$GC,936,2.14,731.4,3003,2088,1634,4094,16.3,10.5,142,942,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2088,1634,1634,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.06,50.27
$GC,974,2.14,731.4,3003,2088,1633,4094,11.9,11.1,148,980,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2088,1633,1633,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.08,51.14
$GC,1013,2.14,731.4,3003,2088,1632,4094,7.0,12.9,154,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2088,1631,1631,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.09,51.65
$GC,1051,2.14,731.4,3004,2088,1630,4094,2.0,12.6,160,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2088,1630,1630,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.10,52.00
$STATE,1062,end climb,SURFACE_DEPTH_REACHED
$STATE,1062,begin surface coast
$FINISH,0.1,1.023986
$STATE,1076,end surface coast,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$SM_CCo,1178,0.00,0.000,0,0,1629,734.96
$SM_GC,0.84,29.15,0.32,0.00,0.021,0.046,0.000,231,1951,1629,-6.59,1.78,734.96,0,0,0,0,0,0,25.92,25.98,26.00
$IRIDIUM_FIX,6149.06,-17422.35,150817,125252
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.78
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.83,30.652
$10V_AH,10.37,32.834
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,47.825,11.150,70.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.421,307.885,180.934,239.272,82.936,33.420,364.591,0.000,246.945,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1269.900,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,10840,164
$CAP_FILE_SIZE,32028,0
$CFSIZE,1024409600,965394432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,151223,6149.325,-17358.605,5,0.8,17,7.0,0.3,192.0,10,5.0